Mesh joining for unstable Bullet collision compounds.

data/test_assets/objects/nested_box.phys_properties.json

@@ -0,0 +1,4 @@
+{
+    "render mesh": "nested_box.glb",
+    "join collision meshes": false
+}

src/esp/assets/Attributes.cpp

@@ -274,6 +274,12 @@ PhysicsObjectAttributes::PhysicsObjectAttributes() {
   setString("originHandle", "");
   setString("renderMeshHandle", "");
   setString("collisionMeshHandle", "");
+  setBool("useBoundingBoxForCollision",
+          false);  // if true, override other options and TODO: use bounding box
+                   // as collision object
+  setBool("joinCollisionMeshes",
+          true);  // if true, join all meshes into one collision convex instead
+                  // of building a compound
 }
 
 PhysicsSceneAttributes::PhysicsSceneAttributes() {

src/esp/assets/MeshMetaData.h

@@ -33,18 +33,6 @@ struct MeshTransformNode {
     materialIDLocal = ID_UNDEFINED;
     componentID = ID_UNDEFINED;
   };
-
-  //! copy constructor which duplicates the @ref MeshTransformNode tree of which
-  //! val is the root.
-  MeshTransformNode(const MeshTransformNode& val) {
-    componentID = val.componentID;
-    meshIDLocal = val.meshIDLocal;
-    materialIDLocal = val.materialIDLocal;
-    T_parent_local = Magnum::Matrix4(val.T_parent_local);
-    for (auto& child : val.children) {
-      children.push_back(MeshTransformNode(child));
-    }
-  }
 };
 
 // for each scene (mesh file),

src/esp/assets/ResourceManager.cpp

@@ -117,7 +117,6 @@ bool ResourceManager::loadScene(
   PhysicsManagerAttributes physicsManagerAttributes =
       loadPhysicsConfig(physicsFilename);
   physicsManagerLibrary_[physicsFilename] = physicsManagerAttributes;
-
   return loadScene(info, _physicsManager, physicsManagerAttributes, parent,
                    drawables);
 }
@@ -233,6 +232,8 @@ bool ResourceManager::loadScene(
 
 PhysicsManagerAttributes ResourceManager::loadPhysicsConfig(
     std::string physicsFilename) {
+  CHECK(Cr::Utility::Directory::exists(physicsFilename));
+
   // Load the global scene config JSON here
   io::JsonDocument scenePhysicsConfig = io::parseJsonFile(physicsFilename);
   // In-memory representation of scene meta data
@@ -390,6 +391,80 @@ PhysicsObjectAttributes& ResourceManager::getPhysicsObjectAttributes(
   return physicsObjectLibrary_[objectName];
 }
 
+int ResourceManager::loadObject(PhysicsObjectAttributes& objectTemplate,
+                                const std::string objectTemplateHandle) {
+  CHECK(physicsObjectLibrary_.count(objectTemplateHandle) == 0);
+  CHECK(objectTemplate.existsAs(STRING, "renderMeshHandle"));
+
+  // load/check_for render and collision mesh metadata
+  //! Get render mesh names
+  std::string renderMeshFilename = objectTemplate.getString("renderMeshHandle");
+  std::string collisionMeshFilename = "";
+
+  if (objectTemplate.existsAs(STRING, "collisionMeshHandle")) {
+    collisionMeshFilename = objectTemplate.getString("collisionMeshHandle");
+  }
+
+  bool renderMeshSuccess = false;
+  bool collisionMeshSuccess = false;
+  AssetInfo renderMeshinfo;
+  AssetInfo collisionMeshinfo;
+
+  //! Load rendering mesh
+  if (!renderMeshFilename.empty()) {
+    renderMeshinfo = assets::AssetInfo::fromPath(renderMeshFilename);
+    renderMeshSuccess = loadGeneralMeshData(renderMeshinfo);
+    if (!renderMeshSuccess) {
+      LOG(ERROR) << "Failed to load a physical object's render mesh: "
+                 << objectTemplateHandle << ", " << renderMeshFilename;
+    }
+  }
+  //! Load collision mesh
+  if (!collisionMeshFilename.empty()) {
+    collisionMeshinfo = assets::AssetInfo::fromPath(collisionMeshFilename);
+    collisionMeshSuccess = loadGeneralMeshData(collisionMeshinfo);
+    if (!collisionMeshSuccess) {
+      LOG(ERROR) << "Failed to load a physical object's collision mesh: "
+                 << objectTemplateHandle << ", " << collisionMeshFilename;
+    }
+  }
+
+  if (!renderMeshSuccess && !collisionMeshSuccess) {
+    // we only allow objects with SOME mesh file. Failing
+    // both loads or having no mesh will cancel the load.
+    LOG(ERROR) << "Failed to load a physical object: no meshes...: "
+               << objectTemplateHandle;
+    return ID_UNDEFINED;
+  }
+
+  // handle one missing mesh
+  if (!renderMeshSuccess)
+    objectTemplate.setString("renderMeshHandle", collisionMeshFilename);
+  if (!collisionMeshSuccess)
+    objectTemplate.setString("collisionMeshHandle", renderMeshFilename);
+
+  // cache metaData, collision mesh Group
+  physicsObjectLibrary_.emplace(objectTemplateHandle, objectTemplate);
+  MeshMetaData& meshMetaData =
+      resourceDict_.at(objectTemplate.getString("collisionMeshHandle"));
+
+  int start = meshMetaData.meshIndex.first;
+  int end = meshMetaData.meshIndex.second;
+  //! Gather mesh components for meshGroup data
+  std::vector<CollisionMeshData> meshGroup;
+  for (int mesh_i = start; mesh_i <= end; mesh_i++) {
+    GltfMeshData* gltfMeshData =
+        dynamic_cast<GltfMeshData*>(meshes_[mesh_i].get());
+    CollisionMeshData& meshData = gltfMeshData->getCollisionMeshData();
+    meshGroup.push_back(meshData);
+  }
+  collisionMeshGroups_.emplace(objectTemplateHandle, meshGroup);
+  physicsObjectConfigList_.push_back(objectTemplateHandle);
+
+  int objectID = physicsObjectConfigList_.size() - 1;
+  return objectID;
+}
+
 // load object from config filename
 int ResourceManager::loadObject(const std::string& objPhysConfigFilename) {
   // check for duplicate load
@@ -500,8 +575,19 @@ int ResourceManager::loadObject(const std::string& objPhysConfigFilename) {
     }
   }
 
-  // 3. load/check_for render and collision mesh metadata
-  //! Get render mesh names
+  //! Get collision configuration options if specified
+  if (objPhysicsConfig.HasMember("join collision meshes")) {
+    if (objPhysicsConfig["join collision meshes"].IsBool()) {
+      physicsObjectAttributes.setBool(
+          "joinCollisionMeshes",
+          objPhysicsConfig["join collision meshes"].GetBool());
+    } else {
+      LOG(ERROR)
+          << " Invalid value in object physics config - join collision meshes";
+    }
+  }
+
+  // 4. parse render and collision mesh filepaths
   std::string renderMeshFilename = "";
   std::string collisionMeshFilename = "";
 
@@ -523,70 +609,12 @@ int ResourceManager::loadObject(const std::string& objPhysConfigFilename) {
     }
   }
 
-  bool renderMeshSuccess = false;
-  bool collisionMeshSuccess = false;
-  AssetInfo renderMeshinfo;
-  AssetInfo collisionMeshinfo;
-
-  //! Load rendering mesh
-  if (!renderMeshFilename.empty()) {
-    renderMeshinfo = assets::AssetInfo::fromPath(renderMeshFilename);
-    renderMeshSuccess = loadGeneralMeshData(renderMeshinfo);
-    if (!renderMeshSuccess) {
-      LOG(ERROR) << "Failed to load a physical object's render mesh: "
-                 << objPhysConfigFilename << ", " << renderMeshFilename;
-    }
-  }
-  //! Load collision mesh
-  if (!collisionMeshFilename.empty()) {
-    collisionMeshinfo = assets::AssetInfo::fromPath(collisionMeshFilename);
-    collisionMeshSuccess = loadGeneralMeshData(collisionMeshinfo);
-    if (!collisionMeshSuccess) {
-      LOG(ERROR) << "Failed to load a physical object's collision mesh: "
-                 << objPhysConfigFilename << ", " << collisionMeshFilename;
-    }
-  }
-
-  if (!renderMeshSuccess && !collisionMeshSuccess) {
-    // we only allow objects with SOME mesh file. Failing
-    // both loads or having no mesh will cancel the load.
-    LOG(ERROR) << "Failed to load a physical object: no meshes...: "
-               << objPhysConfigFilename;
-    return ID_UNDEFINED;
-  }
-
   physicsObjectAttributes.setString("renderMeshHandle", renderMeshFilename);
   physicsObjectAttributes.setString("collisionMeshHandle",
                                     collisionMeshFilename);
 
-  // handle one missing mesh
-  if (!renderMeshSuccess)
-    physicsObjectAttributes.setString("renderMeshHandle",
-                                      collisionMeshFilename);
-  if (!collisionMeshSuccess)
-    physicsObjectAttributes.setString("collisionMeshHandle",
-                                      renderMeshFilename);
-
-  // 5. cache metaData, collision mesh Group
-  physicsObjectLibrary_.emplace(objPhysConfigFilename, physicsObjectAttributes);
-  MeshMetaData& meshMetaData = resourceDict_.at(
-      physicsObjectAttributes.getString("collisionMeshHandle"));
-
-  int start = meshMetaData.meshIndex.first;
-  int end = meshMetaData.meshIndex.second;
-  //! Gather mesh components for meshGroup data
-  std::vector<CollisionMeshData> meshGroup;
-  for (int mesh_i = start; mesh_i <= end; mesh_i++) {
-    GltfMeshData* gltfMeshData =
-        dynamic_cast<GltfMeshData*>(meshes_[mesh_i].get());
-    CollisionMeshData& meshData = gltfMeshData->getCollisionMeshData();
-    meshGroup.push_back(meshData);
-  }
-  collisionMeshGroups_.emplace(objPhysConfigFilename, meshGroup);
-  physicsObjectConfigList_.push_back(objPhysConfigFilename);
-
-  int objectID = physicsObjectConfigList_.size() - 1;
-  return objectID;
+  // 5. load the parsed file into the library
+  return loadObject(physicsObjectAttributes, objPhysConfigFilename);
 }
 
 const std::vector<assets::CollisionMeshData>& ResourceManager::getCollisionMesh(
@@ -1101,7 +1129,7 @@ void ResourceManager::loadTextures(Importer& importer, MeshMetaData* metaData) {
 void ResourceManager::addComponent(const MeshMetaData& metaData,
                                    scene::SceneNode& parent,
                                    DrawableGroup* drawables,
-                                   MeshTransformNode& meshTransformNode) {
+                                   const MeshTransformNode& meshTransformNode) {
   // Add the object to the scene and set its transformation
   scene::SceneNode& node = parent.createChild();
   node.MagnumObject::setTransformation(meshTransformNode.T_parent_local);

src/esp/assets/ResourceManager.h

@@ -100,21 +100,50 @@ class ResourceManager {
       DrawableGroup* drawables = nullptr,
       std::string physicsFilename = "data/default.phys_scene_config.json");
 
-  // load a PhysicsSceneMetaData object from a config file
+  /**
+   * @brief Load and parse a physics world config file and generates a @ref
+   * PhysicsManagerAttributes object.
+   * @param physicsFilename The config file.
+   * @return The resulting @ref PhysicsManagerAttributes object.
+   */
   PhysicsManagerAttributes loadPhysicsConfig(
       std::string physicsFilename = "data/default.phys_scene_config.json");
 
-  //! Load Object data and store internally
-  //! Does not instantiate (physics & drawable)
-  //! Return index in physicsObjectList_
+  /**
+   * @brief Load the drawable for an object from the @ref physicsObjectLibrary_
+   * into the scene graph. Attempts to load and parse the referenced object
+   * template file into the @ref physicsObjectLibrary_ if not already present.
+   * @param objPhysConfigFilename The string key for the object template in the
+   * @ref physicsObjectLibrary_.
+   * @param parent The parent @ref scene::SceneNode for the object.
+   * @param drawables The @ref DrawableGroup for the object drawable.
+   * @return the object's index in @ref physicsObjectList_
+   */
   int loadObject(const std::string& objPhysConfigFilename,
                  scene::SceneNode* parent,
                  DrawableGroup* drawables);
 
-  // load an object into the physicsObjectLibrary_ from a physics properties
-  // filename
+  /**
+   * @brief Load and parse a physics object template config file and generates a
+   * @ref PhysicsObjectAttributes object, adding it to the @ref
+   * physicsObjectLibrary_.
+   * @param objPhysConfigFilename The config file.
+   * @return The index in the @ref physicsObjectLibrary_ of the resulting @ref
+   * PhysicsObjectAttributes object.
+   */
   int loadObject(const std::string& objPhysConfigFilename);
 
+  /**
+   * @brief Add a @ref PhysicsObjectAttributes object to the @ref
+   * physicsObjectLibrary_. Can modify template values based on results of load.
+   * @param objectTemplateHandle The key for referencing the template in the
+   * @ref physicsObjectLibrary_.
+   * @param objectTemplate The object template.
+   * @return The index in the @ref physicsObjectLibrary_ of object template.
+   */
+  int loadObject(PhysicsObjectAttributes& objectTemplate,
+                 const std::string objectTemplateHandle);
+
   //======== Accessor functions ========
   const std::vector<assets::CollisionMeshData>& getCollisionMesh(
       const std::string configFile);
@@ -161,7 +190,7 @@ class ResourceManager {
   void addComponent(const MeshMetaData& metaData,
                     scene::SceneNode& parent,
                     DrawableGroup* drawables,
-                    MeshTransformNode& meshTransformNode);
+                    const MeshTransformNode& meshTransformNode);
 
   //! Load textures from importer into assets, and update metaData
   void loadTextures(Importer& importer, MeshMetaData* metaData);

src/esp/physics/PhysicsManager.cpp

@@ -218,6 +218,11 @@ int PhysicsManager::checkActiveObjects() {
   return numActive;
 }
 
+bool PhysicsManager::isActive(const int physObjectID) const {
+  assertIDValidity(physObjectID);
+  return existingObjects_.at(physObjectID)->isActive();
+}
+
 void PhysicsManager::applyForce(const int physObjectID,
                                 const Magnum::Vector3& force,
                                 const Magnum::Vector3& relPos) {